Jacob Everist

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One of the most challenging issues for a selfsustaining robotic system is how to use its limited resources to accomplish a large variety of tasks. The scope of such tasks could include transportation, exploration, construction, inspection, maintenance, in-situ resource utilization, and support for astronauts. This paper proposes a modular and reconfigurable(More)
Much work on self-reconfigurable robotics has been focused on motion planning and physical reconfiguration of the robot. Using the Superbot self-reconfigurable robot, we focus on the details of realizing locomotion gaits given that a single robot topology can be realized in a large number of different ways. That is, each module in the robot topology has 4(More)
This paper presents an experimental system for assembly in space. A weightless and frictionless environment is approximated using an air-hockey table where robots and structural components can float on the surface. The robots use fan propulsion to dock with components and assemble them together to make 2D structures. This system is designed to implement(More)
This paper presents a modular and reconfigurable robot for multiple locomotion modes based on reconfigurable modules. Each mode consists of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recover ability from failures. The paper demonstrates this solution by the Superbot robot that combines advantages from MTRAN,(More)
We are developing a distributed system for the tracking of people and objects in complex scenes and environments using biologically based algorithms. An important component of such a system is its ability to track targets from multiple cameras at multiple viewpoints. As such, our system must be able to extract and analyze the features of targets in a manner(More)
The goal of modular robots is to achieve versatility in the field, while satisfying any number of traditional robot tasks. We chose the task of traversing terrain by climbing, and present various methods of climbing with modular robots. In particular, we focus on the tasks of climbing across a horizontal rope, climbing up a vertical rope, and climbing up(More)
Mapping opaque and confined environments such as caves and pipes is a challenging problem for mobile robots because sensor information is severely limited to the immediate proximity of the robot due to the extreme environmental conditions. The robot must also be flexible and agile in unstructured environments while still providing accurate pose estimation.(More)
This paper proposes a novel method for localizing a stationary infrared source of unknown orientation relative to a static docking sensor. This method uses elliptical approximations of likely positions of the infrared source and computes the intersections to find the most probable locations. It takes only a few samples to localize, is easily computed with(More)
Superbot consists of Lego-like but autonomous robotic modules that can reconfigure into different systems for different tasks. Examples of configurable systems include rolling tracks or wheels (for efficient travel), spiders or centipedes (for climbing), snakes (for burrowing in ground), and climbers (for inspection and repair in space). This video shows(More)